本論文利用零力矩點（Zero Moment Point, ZMP）來實現大型人形機器人的靜態站立平衡，而ZMP是藉由安裝在機器人踝關節的六軸力量感測器來得知。研究內容可分為三個主題：(1)大型人形系統、(2)運動控制以及(3)平衡控制。在大型人形系統的設計上，可分為機構設計、電源系統以及軟體系統等三項。在運動控制的設計上，可分為正運動學以及逆運動學等二項。在平衡控制的設計上，本論文用六軸力量感測器來量測大型人形機器人的ZMP，並且提出一個控制方法來讓其靜態站立平衡，為達此目的，考慮使用ZMP計算以及姿態修正兩大部分。ZMP計算的部分，本論文利用六軸力量感測器所回傳的力矩值，計算出大型人形機器人的ZMP位置。姿態修正的部分，本論文根據ZMP的位置，設計模糊系統來決定機器人腰部的修正量，讓大型人形機器人可以達到良好的站立平衡。 In this thesis, 6-axis force torque sensors are installed on the ankles of an adult-sized humanoid robot to calculate its zero moment point (ZMP) so that it can be static standing balance. There are three main themes: (1) Adult-sized humanoid robot system, (2) Motion control, and (3) Balance control. In the theme of adult-sized humanoid robot system design, it can be classified into three parts: mechanism design, power system, and software system. In the theme of motion control design, it can be classified into two parts: direct kinematics and inverse kinematics. In the theme of balance control design, 6-axis force torque sensors are used to measure the ZMP of the adult-sized humanoid robot and a control method is proposed to let the robot can be static standing balance. There are two main parts: (a) ZMP calculation and (b) Attitude adjustment. In the ZMP calculation, the ZMP of the adult-sized humanoid robot is calculated by the torque values measured from the 6-axis force torque sensor which is mounted on the ankle of the robot. In the attitude adjustment, the fuzzy system based on the obtained ZMP is applied to adjust the waist of the robot so that it can be static standing balance.
